Multi-degree-of-freedom mechanical arm and inspection intelligent robot

Abstract

The present application relates to a kind of multi-degree of freedom mechanical arm and inspection intelligent robot, including mechanical arm mobile seat and several motor-driven wheels being installed in the side of mechanical arm mobile seat and the mechanical arm body being fixedly installed in the top end of mechanical arm mobile seat, by the setting and operation of scraping magnetic attraction processing component, so that inspection intelligent robot can drive installation cylinder synchronous rotation when advancing, so that electromagnetic plate is quickly absorbed magnetic metal foreign matter such as iron nail, metal scrap during approaching ground, avoid its puncture tire, eliminate the risk of puncture of pneumatic tire from the root, guarantee robot stable operation, simultaneously by the engagement of scraping groove in the process of rotation and the arc-shaped hook design of arc-shaped scraper, the non-magnetic foreign matter of ground is cleaned, avoid its adhesion on the surface of tire, effectively reduce the abrasion and jam fault of transmission component caused by impurity accumulation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent inspection, in particular to a multi-degree-of-freedom mechanical arm and an intelligent inspection robot. BACKGROUND

[0002] With the development of modern industry and power systems, the demand for equipment operation state monitoring and maintenance is increasingly urgent. Traditional manual inspection in complex, dangerous or large-scale scenarios has low efficiency, is prone to omissions, has high labor intensity and safety risks, and is difficult to meet actual needs. The multi-degree-of-freedom mechanical arm has high flexibility and precise operation capability, and can complete complex tasks in restricted or dangerous spaces; the intelligent inspection robot can realize autonomous movement, environmental perception and data acquisition and analysis. The combination of the two can break through the limitations of traditional inspection, realize automated and intelligent inspection, improve operation efficiency and reliability, and ensure stable operation of the system.

[0003] In an intelligent manufacturing workshop, metal foreign matter generated in the equipment maintenance and repair scene has become a major obstacle to the operation of the intelligent inspection robot. Currently, the mechanical arm inspection intelligent robot mainly uses inflatable tires and other traditional mobile mechanisms to avoid damage to the workshop floor. The structural characteristics of these mechanisms result in weak protection against sharp metal foreign matter. During daily maintenance in the workshop, iron nails, metal debris and other foreign matter are scattered, which can easily pierce the tire rubber layer, causing air leakage, tire burst and other faults. At the same time, some impurities can also adhere to the surface of the tire, accumulate in the key transmission parts such as the joint gap between the tire and the hub and the drive shaft, and cause the robot to be forced to interrupt the inspection task. In addition, the imbalance in movement can cause the mechanical arm to collide with equipment, data acquisition to be inaccurate, and other secondary problems, significantly reducing the efficiency of equipment inspection and the reliability of data. SUMMARY

[0004] The present application aims to provide a multi-degree-of-freedom mechanical arm and an intelligent inspection robot to solve the problems raised in the background.

[0005] To achieve the above object, the application provides the following technical scheme: a multi-degree-of-freedom mechanical arm and an inspection intelligent robot, comprising a mechanical arm moving base, a plurality of motor-driven wheels installed on the side of the mechanical arm moving base, and a mechanical arm body fixedly installed on the top end of the mechanical arm moving base, two electric telescopic supports are symmetrically fixedly installed on the two sides of the mechanical arm moving base, an installation cylinder is rotationally and clampingly installed between the inner walls of the sides of the two electric telescopic supports away from the mechanical arm moving base, a scraping and magnetic attraction processing assembly is arranged outside the installation cylinder, an arc-shaped collecting disc is transversely arranged at the middle position inside the installation cylinder, a pressing and dumping assembly is arranged on the side of the arc-shaped collecting disc, and a positioning frame is fixedly connected between the top ends of the two electric telescopic supports.

[0006] Further, a gear ring is fixedly installed through the outside of the side edge of the installation cylinder, a gear disc is fixedly installed on the outside of one of the motor-driven wheels, and one side of the gear disc is meshingly connected with one side of the gear ring.

[0007] Further, a collecting groove two is arranged between every two collecting grooves one, the collecting groove two is arranged outside one side of the installation cylinder, a rotating plate is arranged inside the side of the collecting groove one and the collecting groove two close to the arc-shaped collecting disc, a rotating shaft is fixedly installed through the inside of the rotating plate, and the rotating shaft is rotationally installed through the two ends of the rotating shaft outside the two sides of the installation cylinder.

[0008] Further, a reset torsional spring is fixedly connected and installed between the through end of one side of the rotating shaft and the outer surface of one side of the installation cylinder, a limiting gear is fixedly installed through the inside of the rotating shaft at the through end of the other side of the rotating shaft, and an arc-shaped gear rack is fixedly installed on the top end side of the inner wall of one of the electric telescopic supports close to one of the limiting gears.

[0009] Further, an electromagnetic plate is fixedly installed in the rotating plate inside every collecting groove one away from the arc-shaped collecting disc, a conductive column is fixedly installed through the inside of the rotating shaft close to the side of the electromagnetic plate, the conductive column is in conductive connection with the input end of the electromagnetic plate on the side of the conductive column, and the other side of the conductive column is installed through the outside of one side of the rotating shaft.

[0010] Further, a conductive ring is fixedly installed on the inner wall of the side of the electric telescopic support close to the through end of the conductive column, the conductive ring is in conductive connection with the through end of the conductive column on the side of the conductive ring, and a notch is formed through the inside of the side of the conductive ring close to the positioning frame.

[0011] Further, the opening end of the collecting groove two is fixedly installed with an arc-shaped scraper, a plurality of scraping grooves are equally and penetratingly arranged in the inner side of the arc-shaped scraper away from the collecting groove two, a limiting seat is fixedly installed on the outer side of the bottom end of each scraping groove, a contact piece is rotatably installed on the side of the limiting seat, the contact piece is arc-shaped, two extrusion springs are symmetrically and fixedly installed on the top end side of the contact piece away from the limiting seat, and the top end of each of the two extrusion springs is embeddedly and fixedly installed on the outer side of the bottom end of the positioning frame.

[0012] Further, the pressing and pouring assembly comprises two limiting sliding grooves and two limiting sliding blocks, the two limiting sliding grooves are longitudinally arranged in the inner side of each of the two electric telescopic supports, and the two limiting sliding blocks are slidingly and claspingly installed in the inner side of each of the two limiting sliding grooves.

[0013] Further, the top end of each of the two limiting sliding blocks is symmetrically and fixedly installed with a tensile spring, the top end of the tensile spring is embeddedly and fixedly installed in the top wall of the corresponding limiting sliding groove, the bottom end of each of the two limiting sliding blocks is symmetrically and fixedly installed with a compression spring, the bottom end of the compression spring is embeddedly and fixedly installed in the bottom wall of the corresponding limiting sliding groove, and the outer side of the top end of each of the two limiting sliding blocks is fixedly installed with a pressing handle.

[0014] Further, the inner side of each of the two limiting sliding blocks is penetratingly provided with a mounting groove, the inner side of the mounting groove is provided with a connecting pipe, the two ends of the connecting pipe are fixedly installed with limiting rods, the limiting rods are rotatably installed in the inner wall of the mounting groove, and one end of the connecting pipe is penetratingly and fixedly installed in the outer side of the arc-shaped collecting disc.

[0015] In addition, the application also provides a patrol intelligent robot, which comprises the multi-degree-of-freedom mechanical arm and has the above technical effects.

[0016] Compared with the prior art, the application has the following beneficial effects:

[0017] Through the setting and operation of the scraping magnetic attraction treatment assembly, the intelligent inspection robot can drive the installation cylinder to rotate synchronously when it travels, so that the electromagnetic plate can quickly attract magnetic metal foreign matters such as iron nails and metal scraps when it is close to the ground, thereby avoiding that the foreign matters pierce the tire and eliminating the risk of puncturing the pneumatic tire from the root, and ensuring the stable operation of the robot. After the electromagnetic plate is rotated to the top end by the installation cylinder, the electromagnetic plate is powered off, and the rotating plate drives the powered-off electromagnetic plate to rotate and open, so as to realize automatic removal of the attracted metal and drop into the top inside of the arc-shaped collecting disc, thereby ensuring the continuous attraction of the electromagnetic plate. At the same time, through the combined setting of the arc-shaped scraper and the scraping groove structure, the whole can also be used for some non-magnetic sharp foreign matters during operation. During use, the non-magnetic foreign matters on the ground can be cleaned through the clamping of the scraping groove and the arc-shaped hook-shaped design of the arc-shaped scraper during rotation, thereby avoiding the adhesion of the foreign matters on the surface of the tire and effectively reducing the abrasion and jamming failure of the transmission components caused by impurities accumulation.

[0018] Through the setting of the pressing pouring assembly, an operator can press one side of the pressing handle by using the lever principle, so that one end of the arc-shaped collecting disc is raised and the pressing end is lowered, and the whole arc-shaped collecting disc is tilted. This operation method does not require additional tools, is simple and labor-saving, can quickly discharge the impurities such as iron nails and metal scraps collected in the arc-shaped collecting disc, greatly improves the cleaning efficiency, and after cleaning, the arc-shaped collecting disc can automatically rebound and reset to keep balance. Compared with the traditional disassembled cleaning or single opening pouring method, the bidirectional pressing design can flexibly select the pressing direction according to the actual use scene and the operator's position, is not limited by space, does not need to frequently disassemble the arc-shaped collecting disc, reduces the damage of the parts, and at the same time, the quick and efficient cleaning process shortens the preparation time before the secondary operation of the robot, thereby ensuring the continuity of the inspection task. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the present application;

[0020] Figure 2 It is a schematic diagram of the overall structure of the present application; Figure 1 It is an enlarged structure schematic diagram of A in the middle;

[0021] Figure 3 It is a schematic diagram of the overall structure of the present application;

[0022] Figure 4 It is a schematic diagram of the overall structure of the present application; Figure 3 It is an enlarged structure schematic diagram of B in the middle;

[0023] Figure 5 It is a schematic diagram of the overall structure of the present application;

[0024] Figure 6 It is a schematic diagram of the overall structure of the present application; Figure 5Amplified structure schematic view at C;

[0025] Figure 7 Front view structure schematic view of arc-shaped collecting disc and connecting pipe of the present application;

[0026] Figure 8 Three-dimensional structure schematic view of rotating shaft and reset torsion spring of the present application;

[0027] Figure 9 Three-dimensional structure schematic view of collecting groove two and arc-shaped scraper of the present application;

[0028] Figure 10 Three-dimensional structure schematic view of arc-shaped collecting disc and connecting pipe of the present application; Figure 9 Amplified structure schematic view at D;

[0029] Figure 11 Three-dimensional structure schematic view of arc-shaped collecting disc and supporting frame of the present application;

[0030] Figure 12 Three-dimensional structure schematic view of arc-shaped collecting disc and supporting frame of the present application;

[0031] Figure 13 Limiting sliding block driven arc-shaped collecting disc rotation demonstration schematic view of the present application.

[0032] In the drawings, the component list represented by each reference sign is as follows: 1, mechanical arm moving seat; 2, motor driven wheel; 3, mechanical arm body; 4, electric telescopic stand; 5, mounting cylinder; 6, scraping magnetic attraction processing assembly; 601, collecting groove one; 602, collecting groove two; 603, rotating plate; 604, rotating shaft; 605, limiting gear; 606, arc-shaped rack; 607, reset torsion spring; 608, electromagnetic plate; 609, conductive column; 6010, conductive ring; 6011, notch; 6012, arc-shaped scraper; 6013, scraping groove; 6014, limiting seat; 6015, abutting piece; 6016, extrusion spring; 7, gear ring; 8, gear disc; 9, positioning frame; 10, pressing and dumping assembly; 1001, limiting sliding groove; 1002, limiting sliding block; 1003, mounting groove; 1004, connecting pipe; 1005, limiting rod; 1006, supporting frame; 1007, rotating seat; 1008, pressing handle; 1009, compression spring; 1010, tensile spring; 11, arc-shaped collecting disc. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0034] Embodiment one: please refer to Figure 1 Figure 10 A multi-degree-of-freedom mechanical arm and an inspection intelligent robot, comprising a mechanical arm moving base 1, a plurality of motor-driven wheels 2 installed on the side of the mechanical arm moving base 1, and a mechanical arm body 3 fixedly installed on the top end of the mechanical arm moving base 1, two electric telescopic supports 4 are symmetrically fixedly installed on the two sides of the mechanical arm moving base 1, an installation cylinder 5 is rotatably clamped and installed between the inner walls of the sides away from the mechanical arm moving base 1 of the two electric telescopic supports 4, a scraping magnetic attraction processing assembly 6 is arranged outside the installation cylinder 5, an arc-shaped collecting disc 11 is transversely arranged at the middle position inside the installation cylinder 5, and a positioning frame 9 is fixedly connected between the top ends of the two electric telescopic supports 4; the scraping magnetic attraction processing assembly 6 comprises a plurality of collecting grooves 601 and a plurality of arc-shaped scrapers 6012, the plurality of collecting grooves 601 are embedded at equal angles on the inner surface of the installation cylinder 5, and the plurality of arc-shaped scrapers 6012 are arranged at equal angles outside the installation cylinder 5.

[0035] A gear ring 7 is fixedly installed outside the edge of one side of the installation cylinder 5, and a gear disc 8 is fixedly installed outside one of the motor-driven wheels 2, and one side of the gear disc 8 is meshingly connected with one side of the gear ring 7.

[0036] Collecting grooves 602 are arranged between every two collecting grooves 601, the collecting grooves 602 are arranged outside one side of the installation cylinder 5, and rotating plates 603 are arranged inside the side of the collecting grooves 601 and the collecting grooves 602 close to the arc-shaped collecting disc 11. Rotating shafts 604 are fixedly installed inside the rotating plates 603, and the two ends of the rotating shafts 604 are rotatably installed outside the two sides of the installation cylinder 5.

[0037] Reset torsional springs 607 are connected and fixed between the side penetrating end of the rotating shaft 604 and the outer surface of one side of the installation cylinder 5, and limit gears 605 are fixedly installed inside the other side penetrating end of the rotating shaft 604, and an arc-shaped rack 606 is fixedly installed on the top side inner wall of one of the electric telescopic supports 4 close to one of the limit gears 605.

[0038] Electromagnetic plates 608 are fixedly installed inside the rotating plate 603 of each collecting groove 601 away from the arc-shaped collecting disc 11, conductive columns 609 are fixedly installed inside the rotating shaft 604 close to the electromagnetic plate 608, the input end of the electromagnetic plate 608 is conductively connected with the side conductive end of the conductive column 609, and the other side conductive end of the conductive column 609 is installed outside one side of the rotating shaft 604.

[0039] ​The electric telescopic frame 4 is fixedly installed on the inner wall of the side close to the penetrating end of the conductive column 609, and a conductive ring 6010 is arranged on one side of the conductive ring 6010 and is in conductive connection with the side of the penetrating end of the conductive column 609. A notch 6011 is formed in the inner side of the side close to the positioning frame 9 of the conductive ring 6010.

[0040] The arc-shaped scraper 6012 is fixedly installed on the side of the opening end of the collecting groove two 602, a plurality of scraping grooves 6013 are formed in the inner side away from the collecting groove two 602 at equal intervals, a limiting seat 6014 is fixedly installed on the outer side of the bottom end of each scraping groove 6013 close to the positioning frame 9, a contact piece 6015 is rotatably installed on one side of the limiting seat 6014, the contact piece 6015 is arc-shaped, two extrusion springs 6016 are fixedly installed on the top end of the contact piece 6015 away from the limiting seat 6014, and the two extrusion springs 6016 are fixedly installed on the bottom end of the positioning frame 9 away from the top end of the contact piece 6015.

[0041] In this embodiment, when the multi-degree-of-freedom mechanical arm inspection intelligent robot is used, first, the position of the mounting cylinder 5 on one side can be adjusted according to the inspection environment. When the workshop without construction and clean is inspected, at this time, the two electric telescopic frames 4 drive the mounting cylinder 5 to extend as a whole, so that when the subsequent inspection intelligent robot drives the top multi-degree-of-freedom mechanical arm to move and inspect, the mounting cylinder 5 on the side will not rotate, reducing the power consumption. When the workshop in the equipment maintenance scene is inspected, at this time, the two electric telescopic frames 4 can be controlled to drive the mounting cylinder 5 to retract as a whole, so that the gear ring 7 outside the mounting cylinder 5 is in contact and engagement with the gear disc 8, so that when the subsequent inspection intelligent robot drives the top multi-degree-of-freedom mechanical arm to move and inspect, the rotation of the motor drive wheel 2 will drive the mounting cylinder 5 to rotate synchronously, and the mounting cylinder 5 will drive the electromagnetic plates 608 in the plurality of collecting grooves one 601 to rotate close to the ground in rotation, and the electromagnetic plates 608 can orderly actively adsorb the iron nails, metal scraps and other magnetic metal foreign matters on the ground through the electromagnetic adsorption, thereby avoiding the risk of puncturing the tire, eliminating the risk of the punctured pneumatic tire from the root, and ensuring the stable operation of the robot. At the same time, when the mounting cylinder 5 rotates, the arc-shaped scraper 6012 on one side of the collecting groove two 602 also rotates close to the ground, and the scraping groove 6013 can clamp the non-metal small parts during the rotation process. The arc-shaped hook-shaped arrangement of the arc-shaped scraper 6012 can shovel and recycle a part of the non-metal small parts, so as to clean the non-magnetic foreign matters on the ground, avoid the adhesion of the non-magnetic foreign matters on the surface of the tire, effectively reduce the abrasion and jamming failure of the transmission components caused by the accumulation of impurities, and ensure the stability of the multi-degree-of-freedom mechanical arm inspection intelligent robot in use.

[0042] It also needs to be explained that when the installation cylinder 5 rotates the electromagnetic plate 608 with metal impurities to the top side of the electric telescopic support 4, the limit gear 605 on the inside of the rotating plate 603 rotates the shaft 604 and the rotating plate 603, thereby opening the opening at the bottom of the collection groove one 601, and the end of the conductive column 609 inside the rotating shaft 604 also rotates to the side of the gap 6011 of the conductive ring 6010, at which time the electromagnetic plate 608 at the top of the rotating plate 603 loses the adsorption force and the metal impurities on the surface of the electromagnetic plate 608 automatically fall into the arc-shaped collection disc 11 at the bottom, thereby realizing automatic removal of the adsorbed metal and ensuring the continuous adsorption capacity of the electromagnetic plate 608 and the overall use effect. When the arc-shaped scraper 6012 with non-magnetic foreign matter rotates to the top of the electric telescopic support 4, the rotating plate 603 inside the collection groove two 602 at the bottom will also rotate to open, thereby causing some non-magnetic foreign matter scraped by the arc-shaped scraper 6012 to fall into the arc-shaped collection disc 11. Through the setting of the several arc-shaped contact pieces 6015 and the contact and extrusion of the extrusion spring 6016 on one end of the contact piece 6015 and the rotation limiting of the limiting seat 6014 on the other end of the contact piece 6015, when the installation cylinder 5 drives the arc-shaped scraper 6012 to rotate to the bottom of the positioning frame 9, the elastically set contact piece 6015 can disengage the non-magnetic foreign matter in the scraping groove 6013 of the arc-shaped scraper 6012, realize automatic contact cleaning of the scraping groove 6013, and ensure the cleanliness of the scraping groove 6013 and the subsequent continuous use effect.

[0043] It also needs to be explained that when the installation cylinder 5 drives the cleaned collection groove one 601 and the collection groove two 602 to rotate and disengage from the top of the positioning frame 9, the limit gear 605 is disengaged from the arc-shaped rack 606, and the rotation of the reset torsional spring 607 drives the rotating plate 603 to rotate and reset, thereby sealing the collection groove one 601 and the collection groove two 602 at the bottom again and ensuring the subsequent collection effect. After the limit gear 605 is disengaged from the arc-shaped rack 606, the conductive column 609 on one side of the electromagnetic plate 608 is also disengaged from the gap 6011 and contacts the surface of the conductive ring 6010 again, thereby causing the electromagnetic plate 608 to be powered again to generate adsorption force and ensuring the subsequent continuous adsorption and cleaning effect.

[0044] Embodiment Two: Please refer to Figure 2 and Figure 11 - Figure 13 The present embodiment further illustrates Embodiment One, and the side of the arc-shaped collection disc 11 is provided with a pressing and dumping assembly 10.

[0045] The pressing and pouring assembly 10 comprises two limiting sliding grooves 1001 and two limiting sliding blocks 1002, the two limiting sliding grooves 1001 are longitudinally arranged in the corresponding electric telescopic frame 4, and the two limiting sliding blocks 1002 are slidingly and clampedly arranged in the corresponding limiting sliding groove 1001.

[0046] The top end of each limiting sliding block 1002 is symmetrically fixedly installed with a tension spring 1010, the top end of the tension spring 1010 is embeddedly and fixedly installed in the top wall of the corresponding limiting sliding groove 1001, the bottom end of each limiting sliding block 1002 is symmetrically fixedly installed with a compression spring 1009, the bottom end of the compression spring 1009 is embeddedly and fixedly installed in the bottom wall of the corresponding limiting sliding groove 1001, and the side, close to the top end, of each limiting sliding block 1002 is fixedly installed with a pressing handle 1008.

[0047] The inside of each limiting sliding block 1002 is penetratingly provided with a mounting groove 1003, the inside of the mounting groove 1003 is provided with a connecting pipe 1004, the two ends of the connecting pipe 1004 are fixedly installed with limiting rods 1005, the limiting rods 1005 are rotationally installed in the inner wall of the mounting groove 1003, one end of the connecting pipe 1004 is penetratingly and fixedly installed in the side of the arc-shaped collecting disc 11, one of the electric telescopic frames 4 is fixedly installed with a supporting frame 1006 on the side close to the arc-shaped collecting disc 11, the supporting frame 1006 is rotationally installed with a rotating seat 1007 on the side close to the middle position of the arc-shaped collecting disc 11, and the side, away from the supporting frame 1006, of the rotating seat 1007 is fixedly installed in the side of the arc-shaped collecting disc 11.

[0048] In this embodiment, after the multi-degree-of-freedom mechanical arm inspection intelligent robot finishes the inspection task, the operator can press the pressing handle 1008 outside the limit sliding block 1002 on one side, and drive the limit sliding block 1002 and the connecting pipe 1004 to slide downward in the limit sliding groove 1001, and at the same time, the compression spring 1009 at the bottom end of the limit sliding block 1002 is compressed, and the stretching spring 1010 at the top end of the limit sliding block 1002 is stretched. Since the connecting pipe 1004 is fixedly connected with the arc-shaped collecting disc 11 and rotatably connected with the limit sliding block 1002, and the overall lever structure is designed, when the limit sliding block 1002 on one side is pressed to descend, the limit sliding block 1002 on the other side is lifted synchronously, so that the compression spring 1009 at the bottom end of the limit sliding block 1002 on the other side is stretched, and the stretching spring 1010 at the top end of the limit sliding block 1002 on the other side is compressed, so that the arc-shaped collecting disc 11 is in an inclined state as a whole, so that the nails, metal scraps, non-magnetic foreign matters and other impurities collected in the arc-shaped collecting disc 11 can be quickly slid and discharged. This cleaning operation mode does not need additional tools, is simple and labor-saving, greatly improves the cleaning efficiency, and after cleaning, the operator releases the pressing handle 1008, and the arc-shaped collecting disc 11 can automatically rebound and reset through the rebound of the stretching spring 1010 and the compression spring 1009 on both sides, so that the overall balance is maintained. Compared with the traditional disassembled cleaning or single opening dumping mode, the bidirectional pressing design can flexibly select the pressing direction according to the actual use scene and the operator's standing position, is not limited by space, does not need to frequently disassemble the arc-shaped collecting disc 11, reduces the loss of parts, and at the same time, the quick and efficient cleaning process shortens the preparation time before the secondary operation of the robot, and guarantees the continuity of the inspection task.

[0049] The present application has some better technical effects compared with the prior art. The better technical effects of the present application compared with the prior art and the necessity of the functions of the core parts are described in detail below in combination with the specific part design in the present application file:

[0050] 1. In the prior art, most foreign matter cleaning structures only have a single cleaning function, either only adsorbing magnetic metal foreign matters or only scraping non-magnetic foreign matters, which has a limited cleaning scene and cannot meet the actual demand of coexistence of magnetic and non-magnetic foreign matters in the inspection environment, is easy to miss part of the foreign matters, and still has the risk of causing the robot tire to be punctured and the transmission component to be worn.

[0051] The present application solves this problem by designing the scraping and magnetic attraction treatment assembly 6, which integrates the functions of magnetic adsorption and non-magnetic scraping.

[0052] For magnetic foreign matter: the electromagnetic plate 608 is fixedly installed on the rotating plate 603 in the collection groove 1 601, and when the installation cylinder 5 rotates to make the electromagnetic plate 608 close to the ground, the electromagnetic plate 608 generates a magnetic force after being powered on, so that magnetic metal foreign matters such as iron nails and metal scraps can be accurately adsorbed, and the directional collection of the magnetic foreign matters is realized;

[0053] For non-magnetic foreign matter: the collection groove 2 602 is arranged between every two collection grooves 1 601, the arc-shaped scraper 6012 is fixed at the opening end of the collection groove 2 602, and a plurality of scraping grooves 6013 are arranged on the arc-shaped scraper 6012; the arc-shaped hook structure of the arc-shaped scraper 6012 can shovel the non-magnetic foreign matters scattered on the ground, and the scraping grooves 6013 can clamp small non-magnetic parts (such as plastic gaskets, rubber scraps and stones), so that the synchronous cleaning of the non-magnetic foreign matters is realized;

[0054] The two structures are cooperated to cover all types of magnetic and non-magnetic foreign matters, without additional switching of the cleaning mode, and completely adapt to the complex foreign matter environment in the inspection scene, avoiding the limitation of a single cleaning structure.

[0055] 2. In the prior art, the foreign matter collecting parts (such as collection boxes and collection hoppers) are mostly fixedly installed, and when the collection is full of foreign matters, the parts need to be disassembled with the aid of tools to dump the foreign matters, which is complicated and time-consuming, and will interrupt the continuity of the inspection task; and some non-disassembly structures have the problem of incomplete dumping, and the residual foreign matters are easy to block the collection channel.

[0056] The linkage structure of the arc-shaped collection disc 11 and the pressing and dumping assembly 10 is designed, the quick dumping without disassembly is realized, and each part is indispensable, and the specific implementation is as follows:

[0057] The limiting sliding groove 1001 is longitudinally arranged in the electric telescopic support 4, provides a sliding track for the limiting sliding block 1002, and ensures that the sliding block can only move stably in the longitudinal direction;

[0058] The limiting sliding block 1002 is slidably connected in the limiting sliding groove 1001, the pressing handle 1008 fixedly arranged outside the limiting sliding block 1002 is convenient for the operator to apply force, and the mounting groove 1003 in the limiting sliding block 1002 is rotationally connected with the connecting pipe 1004 through the limiting rod 1005; when the pressing handle 1008 drives the limiting sliding block 1002 to slide downwards, the connecting pipe 1004 can rotate synchronously with the sliding block when the sliding block moves;

[0059] One end of the connecting pipe 1004 is fixed to one side of the arc-shaped collection disc 11, the other end is linked with the limiting sliding block 1002 through the limiting rod 1005, and the middle position of the arc-shaped collection disc 11 is rotationally connected with the supporting frame 1006 through the rotating seat 1007; the rotating seat 1007 provides a rotating fulcrum for the arc-shaped collection disc 11, so that when the sliding block moves, the collection disc can be inclined with the rotating seat 1007 as the center;

[0060] The stretching spring 1010 at the top end of the limiting sliding block 1002 and the compression spring 1009 at the bottom end are fixed with the top wall and the bottom wall of the limiting sliding groove 1001 respectively, the compression spring 1009 is compressed and shrunk, and the stretching spring 1010 is stretched and lengthened when being pressed, and after the pressing handle 1008 is released, the spring elastic force can drive the limiting sliding block 1002 to reset, and then the arc-shaped collecting disc 11 restores to the horizontal state, and is prepared for the next collection;

[0061] The operator only needs to press the pressing handle 1008, and the arc-shaped collecting disc 11 can be driven to tilt through the linkage of the above-mentioned parts, and the internal foreign matters can be quickly poured out without disassembling any part; and the elastic resetting function of the stretching spring 1010 and the compression spring 1009 further ensures that the arc-shaped collecting disc 11 can be repeatedly used, if the stretching spring 1010 and the compression spring 1009 are missing, the arc-shaped collecting disc 11 cannot be automatically reset, and needs to be manually adjusted, which greatly reduces the operation efficiency.

[0062] In addition, the embodiment of the present application also provides a patrol intelligent robot, which comprises the multi-degree-of-freedom mechanical arm as described above, and also has the above-mentioned technical effects.

[0063] It should be noted that, in this document, the relationship terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes the existing elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment.

[0064] Although the embodiments of the present application have been shown and described, it can be understood by those of ordinary skill in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A multi-degree-of-freedom robot arm, comprising a robot arm moving base (1), a plurality of motor-driven wheels (2) mounted on the sides of the robot arm moving base (1), and a robot arm body (3) fixedly mounted on the top end of the robot arm moving base (1), characterized in that: Both sides of the mechanical arm moving seat (1) are symmetrically fixedly installed with two electric telescopic frames (4), the inner wall away from the mechanical arm moving seat (1) of the two electric telescopic frames (4) is rotatably clamped and installed with a mounting cylinder (5), the outer part of the mounting cylinder (5) is provided with a scraping magnetic attraction treatment assembly (6), the inner part of the mounting cylinder (5) is transversely provided with an arc-shaped collecting disc (11), the side of the arc-shaped collecting disc (11) is provided with a pressing and dumping assembly (10), the top of the two electric telescopic frames (4) is fixedly connected with a positioning frame (9). The scraping magnetic attraction treatment assembly (6) comprises a plurality of collecting grooves (601) and a plurality of arc-shaped scrapers (6012), a plurality of the collecting grooves (601) are embeddedly and equiangularly arranged on the inner surface of the mounting cylinder (5), and a plurality of the arc-shaped scrapers (6012) are equiangularly arranged on the outer part of the mounting cylinder (5). The collecting grooves (601) are provided with collecting grooves (602) between every two of them, the collecting grooves (602) are arranged on the outer part of the mounting cylinder (5), and the inner part of the side, close to the arc-shaped collecting disc (11), of the collecting grooves (601) and the collecting grooves (602) is provided with rotating plates (603), the inner part of the rotating plates (603) is fixedly and penetratively installed with rotating shafts (604), and the two ends of the rotating shafts (604) are rotatably installed on the outer part of the two sides of the mounting cylinder (5). The rotating plate (603) in the inner part of each of the collecting grooves (601) is fixedly and embeddedly installed with an electromagnetic plate (608) on the side away from the arc-shaped collecting disc (11). The opening end of the collecting groove (602) is fixedly installed with an arc-shaped scraper (6012), and the inner part of the side, away from the collecting groove (602), of the arc-shaped scraper (6012) is equidistantly and penetratively provided with a plurality of scraping grooves (6013). The pressing and dumping assembly (10) comprises two limiting sliding grooves (1001) and two limiting sliding blocks (1002), the limiting sliding grooves (1001) are longitudinally arranged in the inner part of the corresponding electric telescopic frame (4), and the limiting sliding blocks (1002) are penetratively and slidingly clamped and installed in the inner part of the corresponding limiting sliding groove (1001).

2. The multi-degree-of-freedom robotic arm of claim 1, wherein: The outer part of the side edge of the mounting cylinder (5) is penetratively and fixedly installed with a gear ring (7), the outer part of one of the motor driving wheels (2) is fixedly installed with a gear disc (8), and one side of the gear disc (8) is meshingly connected with one side of the gear ring (7).

3. The multi-degree-of-freedom robotic arm of claim 1, wherein: The side penetrative end of the rotating shaft (604) is fixedly and sleevedly connected with the outer surface of one side of the mounting cylinder (5), the other side penetrative end of the rotating shaft (604) is fixedly and penetratively installed with a limiting gear (605), and the top side inner wall of one of the electric telescopic frames (4) is fixedly installed with an arc-shaped rack (606) close to one of the limiting gears (605).

4. The multi-degree-of-freedom robotic arm of claim 1, wherein: The rotating shaft (604) near the electromagnetic plate (608) side is internally penetrated by a conductive column (609), one side of the conductive column (609) is in conductive connection with the input end of the electromagnetic plate (608), and the other side of the conductive column (609) is externally penetrated and installed on one side of the rotating shaft (604).

5. The multi-degree-of-freedom robotic arm of claim 4, wherein: The electric telescopic frame (4) is internally penetrated by a conductive ring (6010) on one side near the penetrated end of the conductive column (609), one side of the conductive ring (6010) is in conductive connection with one side of the penetrated end of the conductive column (609), and the conductive ring (6010) is internally penetrated by a notch (6011) near one side of the positioning frame (9).

6. The multi-degree-of-freedom robotic arm of claim 1, wherein: The positioning frame (9) is externally penetrated by a limiting seat (6014) near one side of the bottom end of each scraping groove (6013), the limiting seat (6014) is rotationally installed with a contact piece (6015) on one side, the contact piece (6015) is in an arc shape, the contact piece (6015) is symmetrically installed with two extrusion springs (6016) on one side away from the limiting seat (6014), and the two extrusion springs (6016) are embeddedly and fixedly installed on one side of the bottom end of the positioning frame (9) away from the contact piece (6015).

7. The multi-degree-of-freedom robotic arm of claim 1, wherein: The top end of each limiting sliding block (1002) is symmetrically installed with a stretching spring (1010), the top end of the stretching spring (1010) is embeddedly and fixedly installed in the top wall of the limiting sliding groove (1001) on the corresponding side, the bottom end of each limiting sliding block (1002) is symmetrically installed with a compression spring (1009), the bottom end of the compression spring (1009) is embeddedly and fixedly installed in the bottom wall of the limiting sliding groove (1001) on the corresponding side, and one side of each limiting sliding block (1002) near the top end is externally fixedly installed with a pressing handle (1008).

8. An intelligent robot for inspection, characterized in that: The internal part of each limiting sliding block (1002) is penetrated by an installation groove (1003), the internal part of the installation groove (1003) is provided with a connecting pipe (1004), both ends of the connecting pipe (1004) are fixedly installed with a limiting rod (1005), the limiting rod (1005) is rotationally installed in the inner wall of the installation groove (1003), and one end of the connecting pipe (1004) is externally penetrated and fixedly installed on one side of the arc-shaped collecting disc (11). The multi-degree-of-freedom mechanical arm comprises the multi-degree-of-freedom mechanical arm according to any one of claims 1-7.

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